183 search results - page 2 / 37 » On Mechanical Control Systems with Nonholonomic Constraints ... |
CDC
2010
IEEE
12 years 12 months ago
2010
IEEE
We consider the problem of designing controllers for nonholonomic mobile robots converging to the source (minimum) of a field. In addition to the mobility constraints posed by the ...
TROB
2002
13 years 4 months ago
2002
Abstract-- This work studies a class of hybrid mechanical systems that locomote by switching between constraints defining different dynamic regimes. We develop a geometric framewor...
ICRA
2007
IEEE
13 years 11 months ago
2007
IEEE
Abstract— This paper addresses the optimal control of nonholonomic systems through provably correct discretization of the system dynamics. The essence of the approach lies in the...
ICRA
2000
IEEE
13 years 9 months ago
2000
IEEE
RSS
2007
13 years 6 months ago
2007
— This paper studies the optimal motion control of mechanical systems through a discrete geometric approach. At the core of our formulation is a discrete Lagrange-d’AlembertPon...